CN104598108A - Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal - Google Patents
Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal Download PDFInfo
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Abstract
The invention discloses equipment and a method for proportionally remote controlling a vehicle and an unmanned aerial vehicle by touching on intelligent terminal. The method comprises the following steps of setting a direction speed control area, a speed gear adjusting area, a flying height control area and a mode selection key area on a touch screen of the intelligent terminal, wherein the key area comprises remote control selection keys of different equipment; meanwhile, setting a state display area on a display unit; detecting a touch gesture on the touch screen; making sure that the detected gesture is a slide gesture in a direction control touch area; according to the slide track, calculating the slide direction and the slide distance of the gesture; transmitting control information containing flying direction and speed to the remote controlled equipment. Compared with the prior art, the equipment and the method have the advantages that operation action on the equipment, such as remote control vehicle and the unmanned aerial vehicle, on the intelligent terminal is simplified, and the using experience of controlling the equipment through the intelligent terminal by a user can be greatly improved.
Description
Technical field
The present invention relates to the field of remote control of the vehicles and electronic equipment, particularly, design a kind of equipment and the method for intelligent terminal touch control manner proportional remote control vehicle and unmanned plane.
Background technology
In recent years along with the development of engineering machinery, automatic driving vehicle and unmanned air vehicle technique is popularized, occurred more and more above-mentioned remote control equipment, but majority is operated on it by special telepilot.And the current fast development with intelligent terminal technology, it can adapt to the remote control demand of the said equipment, and based on intelligent terminal remote control, the status information of remotely-controlled equipment represents, the dirigibility of its intuitive and customization, and operation comfort and the convenience of carrying all have extremely strong comparative advantages.
The current technology also having occurred some mobile phone remote intelligent toys, but its implementation has very large deficiency, such as basic direction controlling, all the control realizing left-right and front-back and parking by set up 4 ~ 5 direction controlling virtual keys on the touchscreen, and the ratio in speed and direction is controlled, and the current state information display method of remotely-controlled equipment does not all realize well, this is for needs proportionality velocity modulation, the demand for control of the equipment of tuning, and the control of remotely-controlled equipment at the unreachable scope place of long-range sight line and travel speed, the display directly perceived of the status informations such as travel direction all cannot meet.
Simultaneously current technology, equipment remote-control demand under specific operation is not also solved well, such as when remotely-controlled equipment operation is when needing back and forth to walk on narrow work road, common backward going is normally solved by reversing, if and the control system can passing through remote pilot remotely-controlled equipment switches front and back direct of travel, user only needs the manipulation custom still travelled according to forward direction to control pace and left and right directions can complete reversing operation, and this greatly can improve experience and the operational security of user undoubtedly.
And for example, under specific operation, operation needs to keep comparatively constant driving speed, and user needs more notices to focus on the maneuvering and control of travel direction and operation part, and user will wish can set gait of march gear neatly.
These urgent demands above-mentioned, current technology all cannot provide experiences good solution.
Summary of the invention
In view of the above problems, present disclose provides equipment and the method for a kind of intelligent terminal touch control manner proportional remote control vehicle and unmanned plane, on intelligent terminal, ratio the speed of the equipment such as telecar, unmanned plane and travel direction and cruising height can be controlled based on the disclosure, and can real-time, the man-machine status information showing institute's remote control equipment with open arms.
Described method comprises:
Velocity controlled zone, direction, brake degree regulatory region, cruising height control zone is set up at the touch-screen of intelligent terminal, and mode selection button district, set up status display area at display unit simultaneously.
Mode selection button district, comprises the selectors of the distinct devices such as telecar, ship, unmanned plane, submarine.
Detect the touch gestures relative to touch-screen.
Determine slip gesture velocity controlled zone, direction being detected, with the starting point O of sliding trace for initial point sets up plane right-angle coordinate xOy, x-axis direction be level to the right, y-axis direction is vertically upward, the tracing point A coordinate (x corresponding at any one time according to sliding trace, y) and and direction touch control area size between relation, calculate remotely-controlled equipment steering angle β and velocity amplitude V.
β and V value is issued remotely-controlled equipment as control information.
Determine to detect and leave gesture, β and V is all set to zero, and send to remotely-controlled equipment.
Determine the remotely pilotless machine in mode selection button district, the click gesture of submarine selectors to be detected, then activate cruising height control zone, start to receive the touch gestures from this region.
Determine slip or click gesture that cruising height control zone detected, send cruising height control information to remotely-controlled equipment.
The equipment of described intelligent terminal touch control manner proportional remote control vehicle and unmanned plane, described equipment comprises:
Touch-screen, produces touch event for the touch gestures in response to user and described touch event is sent to controller;
Controller, for from the touch event detection touch gestures inputted from touch-screen, determines the touch gestures detected, and manages according to the state of activation of determination result management display unit, the different control zone of touch-screen, and calculates control information;
Display unit, for showing the status information of remotely-controlled equipment;
Intelligent terminal and remotely-controlled equipment radio frequency separately (RF) communication unit, is responsible for the transmitting-receiving of control information and status information;
The controller of remotely-controlled equipment, is suitable for the control information that radio frequency (RF) communication unit is sent being transferred to the electric signal controlling each action motor of remotely-controlled equipment.
Preferably, touch-screen is set up the speed stage regulatory region of slide bar form, according to the slip of user in this region or click gesture, the maximum travelling speed of setting remotely-controlled equipment, with under satisfied different duty requirements, user need be absorbed in controlling party to the demand with operation part.
Preferably, touch-screen is set up the brake degree regulatory region of slide bar form, the slip that user inputs in this region or click gesture, can set the brake degree of remotely-controlled equipment, to meet the braking deceleration job requirements as remotely-controlled equipments such as telecar, ship and unmanned planes.
Preferably, status display area is set up in display unit, determine click gesture velocity controlled zone, direction being detected, then activate the status display area in display unit, and start the status information showing remotely-controlled equipment, when the click gesture in described region again being detected, then closed condition viewing area, stops display status information; Described status displaying information at least comprises: velocity information, cruising height information, and with the travel direction information of the direction rotating disk form display with arm for direction indicator; The periphery of described direction rotating disk is with calibration information, and the point of rotation of described arm for direction indicator is the center of direction rotating disk, and orientation angle is the steering angle of remotely-controlled equipment steering mechanism relative initial position.
Preferably, the form of described cruising height control zone is the slide bar form in intelligent terminal operation interface.
Preferably, described equipment and method are also included in touch-screen and set up fore-and-aft direction switching key, remotely-controlled equipment are set up at least 1 to advance and retreat blinker.
When the click gesture of fore-and-aft direction switching key being detected, send fore-and-aft direction switching control information to remotely-controlled equipment.
Remotely-controlled equipment exchanges front and back travel direction, for after this from the direction controlling information of velocity controlled zone, intelligent terminal direction, by the execution that makes an explanation based on new travel direction after receiving the control information of fore-and-aft direction switching.
Meanwhile, the display state of advance and retreat blinker is exchanged.
Preferably, described speed stage regulatory region can be the form of multiple button, corresponding implementation method is: touch-screen confirms the click gesture respective keys of speed stage regulatory region being detected, and the key assignments corresponding according to this button sets the maximum remote control permissible velocity value V1 of remotely-controlled equipment.
Accompanying drawing explanation
Fig. 1 is the block diagram according to the intelligent terminal of exemplary embodiment of the present invention and the configuration of remotely-controlled equipment;
Fig. 2 is the process flow diagram of the method for mode selection button according to exemplary embodiment of the present invention;
Fig. 3 be according to exemplary embodiment of the present invention for activating/process flow diagram of the method for closed condition information display area;
Fig. 4 is the control flow chart for blinker of retreating according to exemplary embodiment of the present invention;
Fig. 5 is according to the process flow diagram for the method based on velocity controlled zone, direction, speed stage regulatory region drone transport vehicle traveling of exemplary embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings exemplary embodiment of the present disclosure is described in more detail.Although show exemplary embodiment of the present disclosure in accompanying drawing, however should be appreciated that can realize the disclosure in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the disclosure can be understood, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
Fig. 1 is the block diagram illustrated according to the intelligent terminal of exemplary embodiment of the present invention and the configuration of remotely-controlled equipment telecar.With reference to Fig. 1, intelligent terminal 100 can comprise touch-screen 101, controller 102, display unit 103, storer 104, radio frequency (RF) communication unit 105.Remotely-controlled equipment 200 can comprise radio frequency (RF) communication unit 201, controller 202, drive motor 203, steer motor 204, advance and retreat blinker 205, camera 206.
Touch-screen 101 is installed in the front surface of display unit 103, or is selectively included in display unit 103, produces touch event and described touch event is sent to controller 102 in response to the touch gestures of user.Therefore, controller 102 from the touch gestures of touch event sensing user being input to touch-screen 101, and in response to the touch gestures detected, can control above-mentioned structural detail.Here, touch gestures can be categorized as and slide and click.
Controller 102 controls the integrated operation of intelligent terminal 100, and according to the touch event from touch-screen detected, the parameter information of the remotely-controlled equipment 200 stored in combined memory 104, calculate and formation control information, send to remotely-controlled equipment 200 by radio frequency (RF) communication unit 105.
The digital data conversion inputted from controller 102 is simulated data by display unit 103, and display simulation data.Namely, display unit 103 can show remotely-controlled equipment status information, such as, comprise the direction rotating disk of steering angle information and comprise the speed dial plate of driving speed information, and the information such as the button of all touch-screen control zones, and the image that on the remotely-controlled equipment 200 received by radio frequency (RF) communication unit 105, the camera 206 of carry is taken.
Storer 104 can store the various data of intelligent terminal 100 and operating system and various application.Storer 104 can comprise data area and program area.According to the use of portable terminal 100, the data in the data area of storer 104 are produced by intelligent terminal 100, and the data received by radio frequency (RF) communication unit 105 are stored in the data area of storer 104 equally.In addition, data area can store the various preset values for control inerface operation.
Radio frequency (RF) communication unit 105 and 201 is responsible for the control information that receives and send between intelligent terminal 100 and remotely-controlled equipment 200 and status information of equipment.
The control information that the controller 202 of remotely-controlled equipment 200 sends for receiving the intelligent terminal 100 that transmits from radio frequency (RF) communication unit 201, and be responsible for being construed to the electric signal controlling each operation part of remotely-controlled equipment, such as control the pulse signal that drive motor 203 steer motor 204 rotates; Be responsible for Time Controller 202 the performance information gathering each operation part action executing of remotely-controlled equipment, and issue intelligent terminal 100 by radio frequency (RF) communication unit 201.
The control signal that drive motor 203 and steer motor 204 are responsible for sending according to controller 202 performs concrete operation, comprises rotating forward, reversion and braking.
Advance and retreat blinker 205, lights according to the control signal of controller 202 or extinguishes, with give user clear and definite about the prompting now giving tacit consent to front line direction.
Camera 206, the operating environment around shooting remotely-controlled equipment 200, and captured image is returned to intelligent terminal 100 for user by radio frequency (RF) communication unit 201 checks.
Fig. 2 is the process flow diagram of the method for mode selection button according to exemplary embodiment of the present invention.With reference to Fig. 2, in step 301, display unit 103 display mode selection key district.When mode selection button district is shown, in step 302, controller 102 detects touch gestures.In step 303, controller 102 determines that the touch gestures detected is the click gesture of unmanned plane or submarine selectors, then activate in step 304 and show cruising height control zone, and in step 305, starting to detect the touch gestures from cruising height control zone.
Fig. 3 be according to exemplary embodiment of the present invention for activating/process flow diagram of the method for closed condition information display area.With reference to Fig. 3, in step 401, display unit 103 display direction velocity controlled zone.When velocity controlled zone, direction is shown, in step 402, controller 102 detects touch gestures.In step 403, controller 102 determines that the touch gestures detected is click gesture, then check whether current state viewing area is in state of activation in step 404, if the un-activation of current state viewing area, then state of activation viewing area in a step 406, and the status information from remotely-controlled equipment 200 received from radio frequency (RF) communication unit 201 is shown in status display area; If current state viewing area has been activated and in the status information showing remotely-controlled equipment 200, then removed status display area content in step 405, and closed condition viewing area.
Fig. 4 is the control flow chart for blinker of retreating according to exemplary embodiment of the present invention.As Fig. 4, in step 501, display unit 103 shows fore-and-aft direction switching key, and detects touch gestures in step 502 by controller 102.In step 503, controller 102 confirms that the touch gestures detected is when clicking, check whether current fore-and-aft direction switching key is set to the state of being pressed in step 504, if not, then arranging fore-and-aft direction switching key is in step 505 down state, and by radio frequency (RF) communication unit 105 and 201, controller 202 to remotely-controlled equipment 200 sends the control information of the display state switching advance and retreat blinker 205, namely light the advance and retreat blinker at the rear of remotely-controlled equipment acquiescence direct of travel, extinguish the advance and retreat blinker in front.If being checked through fore-and-aft direction switching key is down state, fore-and-aft direction switching key is then set in step 506 for the state of upspringing, and by radio frequency (RF) communication unit 105 and 201, controller 202 to remotely-controlled equipment 200 sends the control information of the display state switching advance and retreat blinker 205, namely extinguish the advance and retreat blinker at the rear of remotely-controlled equipment acquiescence direct of travel, light the advance and retreat blinker in front.
Fig. 5 is according to the process flow diagram for the method based on velocity controlled zone, direction, speed stage regulatory region drone transport vehicle traveling of exemplary embodiment of the present invention.
Here set forth in order to the disclosure and be easier to understand, to being made some basis settings by the Unpiloted carrier vehicle of remote control, setting Unpiloted carrier vehicle is rear wheel drive, drive motor connects live axle by chain, and and then drive driving wheel, when drive motor rotates clockwise, car moves ahead, rotate counterclockwise, car retreats, and drive motor maximum (top) speed is M(unit rpm), corresponding car travel speed Vmax(unit K m/h); Front-wheel steer, and being driven by steer motor, steer motor takes advantage of a situation pin when rotating, and car is turned right, and the setting steering angle of front-wheel and the steering angle ratio of steer motor are 1:n, and the hard-over of front-wheel is β max; Speed stage regulatory region form is the slide bar form in intelligent operating system Android UI interface, and setting initial value η 1, maximal value is 100, and remotely-controlled equipment maximum remote control permissible velocity value V1=η 1/100, V1 value is stored in storer 104.
As Fig. 5, in step 601, display unit 103 display direction velocity controlled zone, speed stage regulatory region, and detect touch gestures in step 602 by controller 102.In step 603, controller 102 confirms slip or click gesture that speed stage regulatory region detected, in step 604, it is η 2 that controller 102 calculates the current numerical value of speed stage regulatory region, and remotely-controlled equipment maximum remote control permissible velocity value V1=η 2/100 is set, the V1 value more in new memory 104.
In step 605, controller 102 confirms slip gesture velocity controlled zone, direction being detected, then in step 606, and the input information according to sliding trace calculated direction velocity controlled zone:
With the starting point O of velocity controlled zone, direction slip gesture institute sliding trace for initial point sets up plane right-angle coordinate xOy, x-axis direction be level to the right, y-axis direction is vertically upward, here hypothesis velocity controlled zone, direction is width is W, it is highly the rectangular area of H, the tracing point A coordinate corresponding at moment t sliding trace is (x, y), calculate remotely-controlled equipment steering angle β, speeds control ratio b, the maximum remote control permissible velocity value V1 simultaneously obtaining speed stage regulatory region from storer calculates pace value V for being multiplied with speeds control ratio b:
When A point is positioned at first and second quadrant of xOy coordinate system, y advances on the occasion of, remotely-controlled equipment, and drive motor rotates clockwise,
Speeds control ratio b=y/ (H/2),
Speed V=(y/ (H/2)) * V1,
Drive motor rotating speed is: M'=(y/ (H/2)) * M,
Wheel turning angle degree β=(x/ (W/2)) * β max, x is timing, turns right, otherwise for turning left,
Steer motor steering angle is β '=(x/W/2)) * β max*n, x is timing, rotates clockwise, otherwise rotates counterclockwise.
In step 607, control information is sent to the controller 202 of Unpiloted carrier vehicle by controller 102 by radio frequency (RF) communication unit.
In step 608, what controller 102 confirmed velocity controlled zone, direction to be detected leaves gesture.In step 609, M' and β ' is set to zero by controller 102, and is ready for sending to remotely-controlled equipment.
Those skilled in the art are appreciated that and adaptively can change the module in the equipment in embodiment and they are arranged in one or more equipment different from this embodiment.Module in embodiment or unit or assembly can be combined into a module or unit or assembly, and multiple submodule or subelement or sub-component can be put them in addition.Except at least some in such feature and/or process or unit be mutually repel except, any combination can be adopted to combine all processes of all features disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) and so disclosed any method or equipment or unit.Unless expressly stated otherwise, each feature disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) can by providing identical, alternative features that is equivalent or similar object replaces.
Claims (10)
1. the equipment of intelligent terminal touch control manner proportional remote control vehicle and unmanned plane and method, described method comprises:
Velocity controlled zone, direction, speed stage regulatory region, brake degree regulatory region, cruising height control zone is set up at the touch-screen of intelligent terminal, and mode selection button district, set up camera image display district and status display area at display unit simultaneously;
Mode selection button district, comprises the selectors of the distinct devices such as telecar, ship, unmanned plane, submarine;
Detect the touch gestures relative to touch-screen;
Determine slip or click gesture that speed stage regulatory region detected, ratio relation between the regulatory region initial point X that the distance value l1 of the adjustment initial point X set according to sliding trace halt Z and the speed stage regulatory region of slip gesture and speed stage regulatory region set and the distance value l0 of terminating point Y, the maximum remote control permissible velocity value V1 of setting remotely-controlled equipment;
Determine slip gesture velocity controlled zone, direction being detected, with the starting point O of sliding trace for initial point sets up plane right-angle coordinate xOy, x-axis direction be level to the right, y-axis direction is vertically upward, the tracing point A coordinate (x corresponding at any one time according to sliding trace, y) and and direction touch control area size between relation, calculate remotely-controlled equipment steering angle β, speeds control ratio b, speeds control ratio b and V1 product as velocity amplitude V;
β and V value is issued remotely-controlled equipment as control information;
Determine to detect and leave gesture, β and V is all set to zero, and send to remotely-controlled equipment;
Determine slip or click gesture that brake degree regulatory region detected, calculate the percentages expecting brake degree, issue remotely-controlled equipment as control information;
Determine the remotely pilotless machine in mode selection button district, the click gesture of submarine selectors to be detected, then activate cruising height control zone, start to receive the touch gestures from this region;
Determine slip or click gesture that cruising height control zone detected, calculate the percentages of the performance usefulness of the lift propulsion plant controlling remotely-controlled equipment, issue remotely-controlled equipment as control information;
Determine click gesture velocity controlled zone, direction being detected, then activate the status display area in display unit, and start the status information showing remotely-controlled equipment, when the click gesture in described region again being detected, then closed condition viewing area, stops display status information;
Status display area is covered on camera image display district;
The image captured by camera of carry on the remotely-controlled equipment that the display of camera image display district is sent back by network.
2. the method for claim 1, described status displaying information at least comprises: velocity information, cruising height information, and with the travel direction information of the direction rotating disk form display with arm for direction indicator;
The periphery of described direction rotating disk is with calibration information, and the point of rotation of described arm for direction indicator is the center of direction rotating disk, and orientation angle is the steering angle of remotely-controlled equipment steering mechanism relative initial position.
3. the method for claim 1, the form of described speed stage regulatory region, braking force regulatory region and cruising height control zone is the slide bar form in intelligent terminal operation interface.
4. the method for claim 1, the center being also included in velocity controlled zone, direction sets up one to control sintering, and touch-screen, for the slip gesture of velocity controlled zone, direction, receives only and starts from this region.
5. the method as described in claim Isosorbide-5-Nitrae, the described method according to velocity controlled zone, direction slip gesture calculating remotely-controlled equipment steering angle β, speeds control ratio b is as follows:
Setting remotely-controlled equipment maximum travelling speed Vmax, steering locking angle β max, the V1=(l1/l0 set by speed stage regulatory region) * Vmax; Direction initialization velocity controlled zone is the rectangular area of wide W, high H;
When A point is positioned at first and second quadrant of xOy coordinate system, y advances on the occasion of, remotely-controlled equipment:
Speeds control ratio b=y/ (H/2),
Speed V=(y/ (H/2)) * V1,
Steering angle β=(x/ (W/2)) * β max, x is timing, turns right, otherwise for turning left;
When A point is positioned at third and fourth quadrant of xOy coordinate system, y is negative value, and remotely-controlled equipment retreats and travels.
6. the equipment of intelligent terminal touch control manner proportional remote control vehicle and unmanned plane, described equipment comprises:
Touch-screen, produces touch event for the touch gestures in response to user and described touch event is sent to controller;
Controller, for from the touch event detection touch gestures inputted from touch-screen, determines the touch gestures detected, and manages according to the state of activation of determination result management display unit, the different control zone of touch-screen, and calculates control information;
Display unit, for showing the status information of remotely-controlled equipment;
Intelligent terminal and remotely-controlled equipment radio frequency separately (RF) communication unit, is responsible for the transmitting-receiving of control information and status information;
The controller of remotely-controlled equipment, is suitable for the control information that radio frequency (RF) communication unit is sent being transferred to the electric signal controlling each action motor of remotely-controlled equipment;
Each operation part of remotely-controlled equipment, comprises traveling drive motor, steer motor and braking mechanism;
The camera of carry on remotely-controlled equipment.
7. as claim 1,3, the equipment described in 6 and method, the percentages computing method controlling the performance usefulness of the lift propulsion plant of remotely-controlled equipment are as follows:
Setting remotely-controlled equipment, comprise unmanned plane and submarine, the range distance of cruising height control zone is lx on the touchscreen, any instant slide bar present position value for l2, then the now number percent of the whole usefulness of performance place of remotely-controlled equipment lift propulsion plant that calculates of intelligent terminal controller: l2/lx;
The computing method of the brake degree percentages of remotely-controlled equipment are as follows:
Setting is by remote control installation, range distance corresponding to brake degree regulatory region on touch-screen is ld, any instant slide bar present position value is ld1, the brake degree percentages that then intelligent terminal controller now calculates is: ld1/ld, namely remotely-controlled equipment braking mechanism has given play to the ld1/ld of whole usefulness.
8., as claim 1, the equipment described in 6 and method, be also included in touch-screen and set up fore-and-aft direction switching key, remotely-controlled equipment set up at least 1 to advance and retreat blinker:
When the click gesture of fore-and-aft direction switching key being detected, send fore-and-aft direction switching control information to remotely-controlled equipment;
After remotely-controlled equipment receives the control information of fore-and-aft direction switching, exchange the display state of the advance and retreat blinker on remotely-controlled equipment, and to after this from the direction controlling information of velocity controlled zone, intelligent terminal direction, give fore-and-aft direction and left and right directions is exchanged, form new control information and send to the operation part driving and retreat and turn to.
9. the method for claim 1, described speed stage regulatory region can be the form of multiple button, and corresponding implementation method is:
Touch-screen confirms the click gesture respective keys of speed stage regulatory region being detected, and the key assignments corresponding according to this button sets the maximum remote control permissible velocity value V1 of remotely-controlled equipment.
10. equipment as claimed in claim 8 and method, the display state of the described advance and retreat blinker exchanged on remotely-controlled equipment, concrete grammar is: rear, remotely-controlled equipment front is respectively arranged with at least 1 pilot lamp, when fore-and-aft direction switching key is not pressed, before the acquiescence of remotely-controlled equipment, the anterior pilot lamp of line direction is lighted, and rear portion pilot lamp is in OFF state; After fore-and-aft direction switching key is pressed, before the acquiescence of remotely-controlled equipment, the anterior pilot lamp of line direction extinguishes, and rear portion pilot lamp is lighted.
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